forked from Archive/PX4-Autopilot
87 lines
1.5 KiB
Plaintext
87 lines
1.5 KiB
Plaintext
#!nsh
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#
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# Script to configure control interface
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#
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if [ $MIXER != none -a $MIXER != skip ]
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then
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#
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# Load mixer
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#
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#Use the mixer file from the SD-card if it exists
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if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
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then
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set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
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else
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set MIXER_FILE /etc/mixers/$MIXER.mix
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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set OUTPUT_DEV /dev/mkblctrl
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else
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set OUTPUT_DEV /dev/pwm_output
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fi
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if [ $OUTPUT_MODE == uavcan_esc ]
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then
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set OUTPUT_DEV /dev/uavcan/esc
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fi
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if mixer load $OUTPUT_DEV $MIXER_FILE
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then
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echo "[i] Mixer: $MIXER_FILE"
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else
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echo "[i] Error loading mixer: $MIXER_FILE"
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tone_alarm $TUNE_ERR
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fi
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unset MIXER_FILE
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else
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if [ $MIXER != skip ]
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then
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echo "[i] Mixer not defined"
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
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then
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if [ $PWM_OUT != none ]
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then
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#
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# Set PWM output frequency
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#
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if [ $PWM_RATE != none ]
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then
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echo "[i] PWM rate: $PWM_RATE"
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pwm rate -c $PWM_OUT -r $PWM_RATE
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fi
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#
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# Set disarmed, min and max PWM values
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#
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if [ $PWM_DISARMED != none ]
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then
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echo "[i] PWM disarmed: $PWM_DISARMED"
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pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
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fi
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if [ $PWM_MIN != none ]
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then
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echo "[i] PWM min: $PWM_MIN"
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pwm min -c $PWM_OUT -p $PWM_MIN
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fi
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if [ $PWM_MAX != none ]
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then
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echo "[i] PWM max: $PWM_MAX"
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pwm max -c $PWM_OUT -p $PWM_MAX
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fi
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fi
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if [ $FAILSAFE != none ]
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then
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pwm failsafe -d $OUTPUT_DEV $FAILSAFE
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fi
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fi
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